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Intelligent motion of mobile robot in the production area

Vaupotic B., Balic J.

Journal of Achievements in Materials and Manufacturing Engineering

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2007

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Vol. 20, nr 1-2

61-68

EN

Purpose: The paper is concerned about intelligent motion of the mobile robot in the production area. The robot is self-learning and gathers the data from the environment by means of sensors. It processes the acquired information and utilizes it for making decisions. Design/methodology/approach: The concept imitates the natural selection of living organisms, where in the struggle for natural resources the fit individuals become more and more dominant and adaptable to the environment in which they live, whereas the less fit ones are present in the generations rarely. Some of the improved genetic operations were used for the robot motion. Findings: The use of those improved genetic operations has proved to be appropriate. By means of them the robot became more and more intelligent in the course of evolution and performed the set task successfully. Research limitations/implications: The tests were limited only to the space with static barriers. In future, it would be appropriate to test the proposed system also in the space with moving objects and to enable the robot to have full autonomy. Practical implications: The proposed system enables the robot to move completly independently in the space. The robot complies with simple instructions: come to the goal fastest possible (shortest path) without causing damage to youself and to the environment. Originality/value: Originality value is the implementation of the non-deterministic principles in the decision making strategy of the mobile robot. In learning and independent decision making the robot used some of the improved genetic operations.

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Concept of automatic programming of NC machine for metal plate cutting by genetic algorithm method

Vaupotic B., Kovacic M., Ficko M., Balic J.

Journal of Achievements in Materials and Manufacturing Engineering

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2006

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Vol. 14, nr 1-2

131--139

EN

Purpose: In this paper the concept of automatic programs of the NC machine for metal plate cutting by genetic algorithm method has been presented. Design/methodology/approach: The paper was limited to automatic creation of NC programs for two dimensional cutting of material by means of adaptive heuristic search algorithms. Findings: Automatic creation of NC programs in laser cutting of materials combines the CAD concepts, the recognition of features and creation and optimization of NC programs. The proposed intelligent system is capable to recognize automatically the nesting of products in the layout, to determine the incisions and sequences of cuts forming the laid out products. Position of incisions is determined at the relevant places on the cut. The system is capable to find the shortest path between individual cuts and to record the NC program. Research limitations/implications: It would be appropriate to orient future researches towards conceiving an improved system for three-dimensional cutting with optional determination of positions of incisions, with the capability to sense collisions and with optimization of the speed and acceleration during cutting. Practical implications: The proposed system assures automatic preparation of NC program without NC programer. Originality/value: The proposed concept shows a high degree of universality, efficiency and reliability and it can be simply adapted to other NC-machines.

3

Bending of sheet metal of complicated shapes (for 90° angle and more) in combined tools

Pachole I., Bonifarti S., Ficko M., Vaupotic B., Kovacic S., Balic J.

Journal of Achievements in Materials and Manufacturing Engineering

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2006

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Vol. 16, nr 1-2

88--93

EN

Purpose: Paper describes bending of sheet metal for angles greater than 90 degrees on simple forming tools. Bending using the bending method „traktrix” (in two steps) or the method „turning of the strip” (in one step) can be used for more complicated bends, i. e., for 90 degrees or more. Design/methodology/approach: We used the principle of “traktrix“ curve known in field of deep drawing process in bending process. The bending method, based on „traktrix” curve for more complicated bends, i. e., for 90° or more was developed. A sketch of 90° bending of unknown author and unknown source existed. Findings: It’s possible to bend sheet metal for 90 degrees or more using “traktrix” curve. Research limitations/implications: The research was limited by time and costs. We carried out the research till we get the described product. Future research should be performed in field of parameters of bending tool. Practical implications: We made only one version of each method, of course for practical reasons since we did not need different angles on one product. It would be appropriate to complement both methods in detail theoretically and by testing in the frame of a more comprehensive research work. Originality/value: This article describes the original approach to bending of sheet metal for angles greater than 90 degrees. Movement of forming tool is carried out only in vertical direction and therefore savings by construction and manufacturing of bending tools are possible.